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Oddaljeno središče gibanja na platformi za raziskave kirurške robotike
ID KRANJEC, JAN (Author), ID Mihelj, Matjaž (Mentor) More about this mentor... This link opens in a new window, ID Deniša, Miha (Co-mentor)

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Abstract
Vse večje število operativnih posegov se izvaja z minimalno invazivno tehniko s pomočjo robota. Izvajajo se s pomočjo kirurške platforme, kjer so kirurški instrumenti pritrjeni na robotske roke, katere kirurg vodi preko konzole. V prihodnosti si želimo doseči delno avtonomne ali celo popolno avtonomne izvedbe robotskih posegov, kjer bi robot samostojno opravljal specifične dele operativnega posega, kot je na primer šivanje. Za takšne raziskave potrebujemo ustrezno raziskovalno platformo. V okviru diplomskega dela smo predstavili izbiro in vzpostavitev kirurške raziskovalne platforme. Uporabili smo robotski roki Kuka LWR in kirurško orodje Da Vinci Xi. Implementirali smo programsko rešitev za omejitev točke oddaljenega središča gibanja s pomočjo virtualnega robotskega sklepa ter uporabo ničelnega prostora matrike. Opravili smo eno izmed tipičnih nalog za laparoskopsko kirurgijo in jo izvedli tako z uporabo algoritma kot tudi brez njega. Po izvedbi naloge smo opravili evalvacijo algoritma in ugotovil, da omogoča natančen izračun pozicije točke oddaljenega središča gibanja. Kljub temu pa smo opazili, da se pri uporabi algoritma povečuje napaka med želeno in trenutno pozicijo vrha robota. Izvedli smo tudi teste, kako šum vpliva na omejitev točke oddaljenega središča gibanja. Ugotovili smo, da se z naraščanjem šuma povečuje tudi napaka omejitve. V zaključku smo predstavili tudi možne nadgradnje raziskovalne platforme, ki bi lahko prispevale k še boljši izvedbi operativnih posegov.

Language:Slovenian
Keywords:RMIS, redundantni robot, raziskovalna kirurška platforma, inverzna kinematika, oddaljeno središče gibanja, EndoWrist Xi
Work type:Bachelor thesis/paper
Organization:FE - Faculty of Electrical Engineering
Year:2023
PID:20.500.12556/RUL-147266 This link opens in a new window
COBISS.SI-ID:157136387 This link opens in a new window
Publication date in RUL:28.06.2023
Views:794
Downloads:46
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Secondary language

Language:English
Title:Remote Centre of Motion on Surgical Robotics Research Platform
Abstract:
An increasing number of surgical procedures are being performed using minimally invasive robotic techniques. They are performed using a surgical platform, where surgical instruments are attached to robotic arms that are guided by the surgeon via a console. In the future, we would like to see autonomous robotic procedures, where the robot would autonomously perform the planned surgical procedures under the supervision of the surgeon. For such research, we need an appropriate research platform. In thesis, we present the selection and set-up of a surgical research platform. We used the Kuka LWR robotic arm and the Da Vinci Xi surgical tool. We implemented a software solution for Remote Centre of Motion (RCM) constraint using a virtual robotic joint and null space. We performed one of the typical tasks for laparoscopic surgery, and performed it both with and without the use of the algorithm. After completing the task, we conducted an evaluation of the algorithm and determined that it enables accurate implementation of the Remote Centre of Motion constraint. However, we noticed that when using the algorithm, the error between the desired and the current end effector pose increases. We have also carried out tests to see how the effect of noise affects the Remote Centre of Motion constraint. We found that as the noise increases, the error of the constraint increases. In the conclusion, we also discussed potential improvements to the research platform that could further improve the performance of surgical interventions.

Keywords:RMIS, redundant robot, surgical research platform, inverse kinematics, remote center of motion, EndoWrist Xi

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